SE534457C2 - Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt - Google Patents

Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt Download PDF

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Publication number
SE534457C2
SE534457C2 SE0950973A SE0950973A SE534457C2 SE 534457 C2 SE534457 C2 SE 534457C2 SE 0950973 A SE0950973 A SE 0950973A SE 0950973 A SE0950973 A SE 0950973A SE 534457 C2 SE534457 C2 SE 534457C2
Authority
SE
Sweden
Prior art keywords
vehicle
speed
gearbox
gear ratio
engine
Prior art date
Application number
SE0950973A
Other languages
English (en)
Swedish (sv)
Other versions
SE0950973A1 (sv
Inventor
Roger Haelleberg
Anders Jensen
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE0950973A priority Critical patent/SE534457C2/sv
Priority to CN2010800569883A priority patent/CN102666242A/zh
Priority to EP10837994.2A priority patent/EP2513519B1/en
Priority to KR1020127018808A priority patent/KR101494376B1/ko
Priority to RU2012130152/11A priority patent/RU2536753C2/ru
Priority to JP2012544437A priority patent/JP5764576B2/ja
Priority to BR112012014541-0A priority patent/BR112012014541B1/pt
Priority to IN5211DEN2012 priority patent/IN2012DN05211A/en
Priority to PCT/SE2010/051401 priority patent/WO2011075067A1/en
Priority to US13/515,909 priority patent/US8751118B2/en
Publication of SE0950973A1 publication Critical patent/SE0950973A1/sv
Publication of SE534457C2 publication Critical patent/SE534457C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0677—Engine power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/38—Inputs being a function of speed of gearing elements
    • F16H2059/405—Rate of change of output shaft speed or vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • F16H2059/663—Road slope
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed, e.g. the vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
SE0950973A 2009-12-17 2009-12-17 Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt SE534457C2 (sv)

Priority Applications (10)

Application Number Priority Date Filing Date Title
SE0950973A SE534457C2 (sv) 2009-12-17 2009-12-17 Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt
CN2010800569883A CN102666242A (zh) 2009-12-17 2010-12-16 驱动车辆的方法和系统
EP10837994.2A EP2513519B1 (en) 2009-12-17 2010-12-16 Method and system for driving of a vehicle
KR1020127018808A KR101494376B1 (ko) 2009-12-17 2010-12-16 차량을 구동하는 방법 및 시스템
RU2012130152/11A RU2536753C2 (ru) 2009-12-17 2010-12-16 Способ вождения автомобиля и система для его осуществления
JP2012544437A JP5764576B2 (ja) 2009-12-17 2010-12-16 車両を運転する方法およびシステム
BR112012014541-0A BR112012014541B1 (pt) 2009-12-17 2010-12-16 método e sistema para controle de uma caixa de câmbio, meio legível por computador e veículo.
IN5211DEN2012 IN2012DN05211A (enrdf_load_stackoverflow) 2009-12-17 2010-12-16
PCT/SE2010/051401 WO2011075067A1 (en) 2009-12-17 2010-12-16 Method and system for driving of a vehicle
US13/515,909 US8751118B2 (en) 2009-12-17 2010-12-16 Method and system for driving of a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0950973A SE534457C2 (sv) 2009-12-17 2009-12-17 Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt

Publications (2)

Publication Number Publication Date
SE0950973A1 SE0950973A1 (sv) 2011-06-18
SE534457C2 true SE534457C2 (sv) 2011-08-30

Family

ID=44167575

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0950973A SE534457C2 (sv) 2009-12-17 2009-12-17 Förfarande och system för framförande av ett fordon vid reducerat behov av framdrivningseffekt

Country Status (10)

Country Link
US (1) US8751118B2 (enrdf_load_stackoverflow)
EP (1) EP2513519B1 (enrdf_load_stackoverflow)
JP (1) JP5764576B2 (enrdf_load_stackoverflow)
KR (1) KR101494376B1 (enrdf_load_stackoverflow)
CN (1) CN102666242A (enrdf_load_stackoverflow)
BR (1) BR112012014541B1 (enrdf_load_stackoverflow)
IN (1) IN2012DN05211A (enrdf_load_stackoverflow)
RU (1) RU2536753C2 (enrdf_load_stackoverflow)
SE (1) SE534457C2 (enrdf_load_stackoverflow)
WO (1) WO2011075067A1 (enrdf_load_stackoverflow)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE534454C2 (sv) 2009-12-17 2011-08-30 Scania Cv Ab Förfarande och system för framförande av ett fordon
US10239515B2 (en) * 2015-01-16 2019-03-26 Ford Global Technologies, Llc Hybrid vehicle and method of disengaging an overdrive clutch in a hybrid vehicle
JP6748059B2 (ja) * 2017-12-28 2020-08-26 本田技研工業株式会社 車両の制御装置
US10793092B2 (en) * 2017-12-29 2020-10-06 Cnh Industrial America Llc System and method for reducing fuel consumption of a work vehicle based on estimated parastic power losses
JP2022007027A (ja) * 2020-06-25 2022-01-13 トヨタ自動車株式会社 車両用制御装置、車両用制御システム、および車両用学習装置
US12043120B2 (en) * 2020-09-14 2024-07-23 Transportation Ip Holdings, Llc Systems and methods for active damping of a platform of a vehicle

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3101056A1 (de) 1981-01-15 1982-08-05 Daimler-Benz Ag, 7000 Stuttgart Verfahren und einrichtung zur ermittlung von schaltsignalen
US4520694A (en) * 1981-12-24 1985-06-04 Robert Bosch Gmbh Method of controlling engine operation in an automotive vehicle during gear change
JPS62261746A (ja) * 1986-05-08 1987-11-13 Komatsu Ltd 自動変速方法
US5425284A (en) * 1993-09-07 1995-06-20 Eaton Corporation Automated mechanical transmission control system/method
SE502550C2 (sv) * 1994-03-18 1995-11-13 Saab Scania Ab Förfarande och anordning för bränslemängdsreglering i samband med nerväxling
JP3277837B2 (ja) 1996-03-15 2002-04-22 トヨタ自動車株式会社 変速機の制御装置
KR19990040799A (ko) 1997-11-19 1999-06-05 정몽규 내리막길 주행시 자동 저단 변속장치
DE19814624A1 (de) * 1998-04-01 1999-10-07 Man Nutzfahrzeuge Ag Automatisierte Schaltung der oberen Gänge eines Lkw-Getriebes
JP2000320665A (ja) * 1999-05-14 2000-11-24 Mitsubishi Electric Corp 車両用定速走行制御装置
US6702713B2 (en) * 2001-12-21 2004-03-09 Eaton Corporation Shift strategies for mock continuously variable transmission
KR100494907B1 (ko) 2002-11-11 2005-06-13 현대자동차주식회사 차량의 변속 제어장치 및 방법
FR2847639B1 (fr) 2002-11-21 2005-02-04 Renault Sa Procede de commande d'une transmission automatique d'un vehicule en situation de descente
JP2004196055A (ja) 2002-12-17 2004-07-15 Fuji Heavy Ind Ltd 自動変速装置
US7684919B2 (en) 2006-05-23 2010-03-23 Zf Friedrichshafen Ag Multiple speed transmission having fuel economy mode
JP4519895B2 (ja) 2007-10-18 2010-08-04 本田技研工業株式会社 シフトインジケータ装置

Also Published As

Publication number Publication date
SE0950973A1 (sv) 2011-06-18
IN2012DN05211A (enrdf_load_stackoverflow) 2015-10-23
BR112012014541B1 (pt) 2021-03-16
WO2011075067A1 (en) 2011-06-23
KR20120101137A (ko) 2012-09-12
CN102666242A (zh) 2012-09-12
JP5764576B2 (ja) 2015-08-19
KR101494376B1 (ko) 2015-02-17
EP2513519A1 (en) 2012-10-24
US8751118B2 (en) 2014-06-10
EP2513519B1 (en) 2017-04-12
EP2513519A4 (en) 2013-10-16
US20120253616A1 (en) 2012-10-04
BR112012014541A2 (pt) 2020-09-15
JP2013514505A (ja) 2013-04-25
RU2012130152A (ru) 2014-01-27
RU2536753C2 (ru) 2014-12-27

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